Classical Mechanics Tutorial IV

Engineering Physics

Indian Institute of Information Technology, Allahabad

1/10
Writing Down a Hamiltonian

Let us now look at Hamiltonian dynamics: The potential for an

anharmonic oscillator is U = kx 2 /2 + bx 4 /4 where k and b are
constants. Write down the Hamiltonian of the system.

2/10
Writing Down a Hamiltonian

Let us now look at Hamiltonian dynamics: The potential for an

anharmonic oscillator is U = kx 2 /2 + bx 4 /4 where k and b are
constants. Write down the Hamiltonian of the system.
I We shall first obtain the Lagrangian of the system.

2/10
Writing Down a Hamiltonian

Let us now look at Hamiltonian dynamics: The potential for an

anharmonic oscillator is U = kx 2 /2 + bx 4 /4 where k and b are
constants. Write down the Hamiltonian of the system.
I We shall first obtain the Lagrangian of the system.
I We will then find the generalized momenta and express q̇ in
terms of p

2/10
Writing Down a Hamiltonian

Let us now look at Hamiltonian dynamics: The potential for an

anharmonic oscillator is U = kx 2 /2 + bx 4 /4 where k and b are
constants. Write down the Hamiltonian of the system.
I We shall first obtain the Lagrangian of the system.
I We will then find the generalized momenta and express q̇ in
terms of p
I Finally we shall use H = p q̇ − L to obtain the Hamiltonian
P

2/10
Writing Down a Hamiltonian

Since we have only one coordinate in the potential term

U = kx 2 /2 + bx 4 /4, the kinetic energy is simply given by

3/10
Writing Down a Hamiltonian

Since we have only one coordinate in the potential term

U = kx 2 /2 + bx 4 /4, the kinetic energy is simply given by

1
T = mẋ 2 (1)
2

3/10
Writing Down a Hamiltonian

Since we have only one coordinate in the potential term

U = kx 2 /2 + bx 4 /4, the kinetic energy is simply given by

1
T = mẋ 2 (1)
2
So,
1 1 1
L = T − U = mẋ 2 − kx 2 − bx 4 (2)
2 2 4

3/10
Writing Down a Hamiltonian

Since we have only one coordinate in the potential term

U = kx 2 /2 + bx 4 /4, the kinetic energy is simply given by

1
T = mẋ 2 (1)
2
So,
1 1 1
L = T − U = mẋ 2 − kx 2 − bx 4 (2)
2 2 4
Lastly, since p = ∂L/∂ ẋ = mẋ =⇒ ẋ = p/m, We get

p2
T = (3)
2m

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So using these equations
X
H= p ẋ − L (4)
p p2 1 1
=p − + kx 2 + bx 4 (5)
m 2m 2 4
where
1 1 1
L = mẋ 2 − kx 2 − bx 4 (6)
2 2 4

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So using these equations
X
H= p ẋ − L (4)
p p2 1 1
=p − + kx 2 + bx 4 (5)
m 2m 2 4
where
1 1 1
L = mẋ 2 − kx 2 − bx 4 (6)
2 2 4
After doing the simple algebra, we get

p2 1 1
H= + kx 2 + bx 4 (7)
2m 2 4

4/10
So using these equations
X
H= p ẋ − L (4)
p p2 1 1
=p − + kx 2 + bx 4 (5)
m 2m 2 4
where
1 1 1
L = mẋ 2 − kx 2 − bx 4 (6)
2 2 4
After doing the simple algebra, we get

p2 1 1
H= + kx 2 + bx 4 (7)
2m 2 4

We can now figure out the equations of motion.

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Finding out the Equations of Motion

We have found out that

p2 1 1
H= + kx 2 + bx 4 (8)
2m 2 4

5/10
Finding out the Equations of Motion

We have found out that

p2 1 1
H= + kx 2 + bx 4 (8)
2m 2 4
The Hamilton’s equation of motion are given by
∂H ∂H
ẋ = , −ṗ = (9)
∂p ∂x

5/10
Finding out the Equations of Motion

We have found out that

p2 1 1
H= + kx 2 + bx 4 (8)
2m 2 4
The Hamilton’s equation of motion are given by
∂H ∂H
ẋ = , −ṗ = (9)
∂p ∂x
We can easily calculate them to be

ẋ = p/m (10)
3
−ṗ = kx + bx (11)

5/10
Finding out the Equations of Motion

We have found out that

p2 1 1
H= + kx 2 + bx 4 (8)
2m 2 4
The Hamilton’s equation of motion are given by
∂H ∂H
ẋ = , −ṗ = (9)
∂p ∂x
We can easily calculate them to be

ẋ = p/m (10)
3
−ṗ = kx + bx (11)

Now we can differentiate 10 and use 11 to write

mẍ = ṗ =⇒ mẍ + kx + bx 3 = 0

5/10
Finding out the Equations of Motion

Let us look at another problem: Use the Hamiltonian method to

find the equations of motion for a spherical pendulum of mass m
and length b.

6/10
Finding out the Equations of Motion

Let us look at another problem: Use the Hamiltonian method to

find the equations of motion for a spherical pendulum of mass m
and length b.
Let us look at the figure

6/10
Finding out the Equations of Motion

Let us look at another problem: Use the Hamiltonian method to

find the equations of motion for a spherical pendulum of mass m
and length b.
Let us look at the figure

6/10
Finding out the Equations of Motion

The generalized coordinates are θ and φ.

7/10
Finding out the Equations of Motion

The generalized coordinates are θ and φ.

1 1
The kinetic energy is T = mb 2 θ̇2 + mb 2 sin2 θφ̇2
2 2

7/10
Finding out the Equations of Motion

The generalized coordinates are θ and φ.

1 1
The kinetic energy is T = mb 2 θ̇2 + mb 2 sin2 θφ̇2 and the
2 2
potential energy is U = −mgb cos θ

7/10
Finding out the Equations of Motion

We can now write the Lagrangian as

1 1
L = mb 2 θ̇2 + mb 2 sin2 θφ̇2 + mgb cos θ (12)
2 2
and calculate the generalized momenta as

8/10
Finding out the Equations of Motion

We can now write the Lagrangian as

1 1
L = mb 2 θ̇2 + mb 2 sin2 θφ̇2 + mgb cos θ (12)
2 2
and calculate the generalized momenta as

∂L
pθ = = mb 2 θ̇ (13)
∂ θ̇
∂L
pφ = = mb 2 sin2 θφ̇ (14)
∂ φ̇

8/10
Finding out the Equations of Motion

We can now write the Lagrangian as

1 1
L = mb 2 θ̇2 + mb 2 sin2 θφ̇2 + mgb cos θ (12)
2 2
and calculate the generalized momenta as

∂L
pθ = = mb 2 θ̇ (13)
∂ θ̇
∂L
pφ = = mb 2 sin2 θφ̇ (14)
∂ φ̇

We then calculate the Hamiltonian using H = pθ θ̇ + pφ φ̇ − L

8/10
Finding out the Equations of Motion

Since the Lagrangian is

1 1
L = mb 2 θ̇2 + mb 2 sin2 θφ̇2 + mgb cos θ,
2 2

we can write H = pθ θ̇ + pφ φ̇ − L as

9/10
Finding out the Equations of Motion

Since the Lagrangian is

1 1
L = mb 2 θ̇2 + mb 2 sin2 θφ̇2 + mgb cos θ,
2 2

we can write H = pθ θ̇ + pφ φ̇ − L as

pθ pφ 1 2  p θ 2
H = pθ + p φ − mb
mb 2 mb 2 sin2 θ 2 mb 2
 2
1 pφ
− mb 2 sin2 θ − mgb cos θ
2 mb sin2 θ
2

9/10
Finding out the Equations of Motion

Since the Lagrangian is

1 1
L = mb 2 θ̇2 + mb 2 sin2 θφ̇2 + mgb cos θ,
2 2

we can write H = pθ θ̇ + pφ φ̇ − L as

pθ pφ 1 2  p θ 2
H = pθ + p φ − mb
mb 2 mb 2 sin2 θ 2 mb 2
 2
1 pφ
− mb 2 sin2 θ − mgb cos θ
2 mb sin2 θ
2

2
pθ2 pφ
H= + − mgb cos θ (15)
2mb 2 2mb 2 sin2 θ

9/10
Finding out the Equations of Motion
pθ2 pφ2
Since, H= + − mgb cos θ
2mb 2 2mb 2 sin2 θ
We now calculate Hamilton’s equations of motion as follows:

10/10
Finding out the Equations of Motion
pθ2 pφ2
Since, H= + − mgb cos θ
2mb 2 2mb 2 sin2 θ
We now calculate Hamilton’s equations of motion as follows:
∂H pθ
θ̇ = = (16)
∂pθ mb 2

10/10
Finding out the Equations of Motion
pθ2 pφ2
Since, H= + − mgb cos θ
2mb 2 2mb 2 sin2 θ
We now calculate Hamilton’s equations of motion as follows:
∂H pθ
θ̇ = = (16)
∂pθ mb 2

∂H pφ
φ̇ = = (17)
∂pp hi mb sin2 θ
2

10/10
Finding out the Equations of Motion
pθ2 pφ2
Since, H= + − mgb cos θ
2mb 2 2mb 2 sin2 θ
We now calculate Hamilton’s equations of motion as follows:
∂H pθ
θ̇ = = (16)
∂pθ mb 2

∂H pφ
φ̇ = = (17)
∂pp hi mb sin2 θ
2

∂H pφ2 cos θ
p˙θ = − = − mgb sin θ (18)
∂θ mb 2 sin3 θ

10/10
Finding out the Equations of Motion
pθ2 pφ2
Since, H= + − mgb cos θ
2mb 2 2mb 2 sin2 θ
We now calculate Hamilton’s equations of motion as follows:
∂H pθ
θ̇ = = (16)
∂pθ mb 2

∂H pφ
φ̇ = = (17)
∂pp hi mb sin2 θ
2

∂H pφ2 cos θ
p˙θ = − = − mgb sin θ (18)
∂θ mb 2 sin3 θ
∂H
p˙φ = − =0 (19)
∂φ
Because φ is a cyclic coordinate, the momentum pφ about the
symmetry axis is constant 10/10